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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_IK_GAIK_
#define OMPL_GEOMETRIC_IK_GAIK_

#include "ompl/base/SpaceInformation.h"
#include "ompl/base/GoalRegion.h"
#include "ompl/geometric/ik/HCIK.h"
#include "ompl/util/Console.h"

namespace ompl
{

    namespace geometric
    {

        /**
           @anchor GAIK

           @par Short description

           GAIK does inverse kinematics, but makes sure the produced
           goal states are in fact valid.

           @par External documentation
        */

        /** \brief Inverse Kinematics with Genetic Algorithms */
        class GAIK
        {
        public:

            /** \brief Construct an instance of a genetic algorithm for inverse kinematics given the space information to search within */
            GAIK(const base::SpaceInformationPtr &si) : hcik_(si), si_(si), poolSize_(100), poolMutation_(20), poolRandom_(30),
                                                        maxDistance_(0.0), msg_("GAIK")
            {
                hcik_.setMaxImproveSteps(3);
                setValidityCheck(true);
            }

            ~GAIK(void)
            {
            }

            /** \brief Find a state that fits the request */
            bool solve(double solveTime, const base::GoalRegion &goal, base::State *result,
                       const std::vector<base::State*> &hint = std::vector<base::State*>());

            /** \brief Set the number of steps to perform when using hill climbing to improve an individual in the population */
            void setMaxImproveSteps(unsigned int maxSteps)
            {
                hcik_.setMaxImproveSteps(maxSteps);
            }

            /** \brief Get the number of steps to perform when using hill climbing to improve an individual in the population */
            unsigned int getMaxImproveSteps(void) const
            {
                return hcik_.getMaxImproveSteps();
            }

            /** \brief Set the state validity flag; if this is false, states are not checked for validity */
            void setValidityCheck(bool valid)
            {
                checkValidity_ = valid;
                hcik_.setValidityCheck(valid);
            }

            /** \brief Get the state validity flag; if this is false, states are not checked for validity */
            bool getValidityCheck(void) const
            {
                return checkValidity_;
            }

            /** \brief Set the number of individuals in the population */
            void setPoolSize(unsigned int size)
            {
                poolSize_ = size;
            }

            /** \brief Get the number number of individuals in the population */
            unsigned int getPoolSize(void) const
            {
                return poolSize_;
            }

            /** \brief Set the number of individuals to mutate at each generation. */
            void setPoolMutationSize(unsigned int size)
            {
                poolMutation_ = size;
            }

            /** \brief Get the number of individuals that are mutated at each generation */
            unsigned int getPoolMutationSize(void) const
            {
                return poolMutation_;
            }

            /** \brief Set the number of individuals to randomly sample at each generation */
            void setPoolRandomSize(unsigned int size)
            {
                poolRandom_ = size;
            }

            /** \brief Get the number of individuals to randomly sample at each generation */
            unsigned int getPoolRandomSize(void) const
            {
                return poolRandom_;
            }

            /** \brief Set the range (distance) to be used when sampling around a state */
            void setRange(double distance)
            {
                maxDistance_ = distance;
            }

            /** \brief Get the range GAIK is using */
            double getRange(void) const
            {
                return maxDistance_;
            }

        private:

            /** \brief Use hill climbing to attempt to get a state closer to the goal */
            bool tryToImprove(const base::GoalRegion &goal, base::State *state, double distance);

            /** \brief Return true if the state is to be considered valid. This function always returns true if checking of validity is disabled. */
            bool valid(const base::State *state) const
            {
                return checkValidity_ ? si_->isValid(state) : true;
            }


            struct Individual
            {
                base::State *state;
                double       distance;
                bool         valid;
            };

            struct IndividualSort
            {
                bool operator()(const Individual& a, const Individual& b)
                {
                    if (a.valid == b.valid)
                        return a.distance < b.distance;
                    return a.valid;
                }
            };

            HCIK                                         hcik_;
            base::SpaceInformationPtr                    si_;
            unsigned int                                 poolSize_;
            unsigned int                                 poolMutation_;
            unsigned int                                 poolRandom_;
            bool                                         checkValidity_;

            double                                       maxDistance_;

            msg::Interface                               msg_;
        };

    }
}

#endif
